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authorNicolas Schodet2011-05-20 08:27:02 +0200
committerNicolas Schodet2011-05-20 08:27:02 +0200
commit2277c9a7aa41c347ba04fca8e202c77b43618802 (patch)
treea73904b3ed877677411caecadaf83ee5b3ff6319 /digital/io-hub/src/robospierre/bot.h
parentc3274377f05073c6d40265ab7849df2a72cfd54e (diff)
digital/{ai,io-hub}: add init FSM
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index e014321e..a986c015 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -34,6 +34,16 @@
# define BOT_SCALE 0.0415178942124
#endif
+/** Distance between the front contact point and the robot center. */
+#define BOT_FRONT_CONTACT_DIST_MM 150
+/** Angle error at the front contact point. */
+#define BOT_FRONT_CONTACT_ANGLE_ERROR_DEG 0
+
+/** Speed used for initialisation. */
+#define BOT_SPEED_INIT 0x10, 0x10, 0x10, 0x10
+/** Normal cruise speed. */
+#define BOT_SPEED_NORMAL 0x40, 0x40, 0x20, 0x20
+
#ifdef HOST
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0